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detect an issue: ba should not correct camera positions

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This commit is contained in:
gfuse
2021-10-14 19:45:18 +02:00
parent 86ab38e13f
commit da1242746d
3 changed files with 4 additions and 4 deletions
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GPU_version/vio/param/vo_fast.yaml
+2 -2
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@@ -1,6 +1,6 @@
vio: vio:
grid_size: 8 #Feature grid size of a cell in [px]. grid_size: 8 #Feature grid size of a cell in [px].
max_n_kfs: 200 #Limit the number of keyframes in the map. This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed. Minimum number of keyframes is 3. max_n_kfs: 30 #Limit the number of keyframes in the map. This makes nslam essentially. a Visual Odometry. Set to 0 if unlimited number of keyframes are allowed. Minimum number of keyframes is 3.
loba_num_iter: 10 #Number of iterations in the local bundle adjustment. loba_num_iter: 10 #Number of iterations in the local bundle adjustment.
quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad. quality_min_fts: 10 #If the number of tracked features drops below this threshold. Tracking quality is bad.
quality_max_drop_fts: 90 #If within one frame, this amount of features are dropped. Tracking quality is bad. quality_max_drop_fts: 90 #If within one frame, this amount of features are dropped. Tracking quality is bad.
@@ -8,7 +8,7 @@ vio:
init_min_disparity: 10 init_min_disparity: 10
structureoptim_max_pts: 50 structureoptim_max_pts: 50
kfselect_mindist: 0.01 kfselect_mindist: 0.01
poseoptim_thresh: 1.5 poseoptim_thresh: 1.25
ACC_ekf: 0.2 #acc white noise in continuous in EKF ACC_ekf: 0.2 #acc white noise in continuous in EKF
GYO_ekf: 0.1 #gyro white noise in continuous in EKF GYO_ekf: 0.1 #gyro white noise in continuous in EKF
VO_ekf_translation: 1.0 #VO noise in EKF VO_ekf_translation: 1.0 #VO noise in EKF
GPU_version/vio/src/frame_handler_mono.cpp
+1 -1
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@@ -219,7 +219,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
// add keyframe to map // add keyframe to map
map_.addKeyframe(new_frame_); map_.addKeyframe(new_frame_);
map_.checkKeyFrames(); map_.checkKeyFrames();
//ba_glob_->new_key_frame(); ba_glob_->new_key_frame();
return RESULT_IS_KEYFRAME; return RESULT_IS_KEYFRAME;
} }
GPU_version/vio/src/initialization.cpp
+1 -1
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@@ -75,7 +75,7 @@ InitResult KltHomographyInit::addSecondFrame(FramePtr frame_cur)
} }
computeHomography(frame_cur, computeHomography(frame_cur,
features_ref_, px_cur_, features_ref_, px_cur_,
frame_ref_->cam_->errorMultiplier2(), 3.0*Config::poseOptimThresh(), frame_ref_->cam_->errorMultiplier2(), 5.0,
inliers_, xyz_in_cur_, T_cur_from_ref_); inliers_, xyz_in_cur_, T_cur_from_ref_);
if(inliers_.size() < Config::initMinInliers()){ if(inliers_.size() < Config::initMinInliers()){
#if VIO_DEBUG #if VIO_DEBUG